2016 Fiscal Year Research-status Report
Hybrid Robot for Bridge Inspection
| Project/Area Number |
16K12501
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| Research Institution | Osaka University |
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Principal Investigator |
ラサミー ポチャラ 大阪大学, サイバーメディアセンター, 助教 (50772448)
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| Co-Investigator(Kenkyū-buntansha) |
黒田 嘉宏 大阪大学, 基礎工学研究科, 准教授 (30402837)
新井 健生 大阪大学, 基礎工学研究科, 教授 (90301275)
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| Project Period (FY) |
2016-04-01 – 2018-03-31
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| Keywords | hybrid robot / adaptive view / vibration control |
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| Outline of Annual Research Achievements |
We have achieved creating a prototype of hybrid robot for steel bridge inspection and maintenance. In order to stabilize our robot in 3D space, we developed a vibration control based on a vibrator to compensate vibration generated from joint actuators when the robot is flying. We completed a simulation of flying performance of a hybrid robot when the vibration was compensated based on LQG control.
Apart from initial plan, we have also developed a novel interface for teleportation that provides a user with environment-adaptive viewpoints that are automatically configured to improve safety and smooth user operation. Our automatic viewpoint generation outperform other view interfaces in terms of ease of control and accuracy of robot operation
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
We achieved developing the prototype and vibration control according to plan. Also, we have introduced a new control interface for hybrid robot control.
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| Strategy for Future Research Activity |
We will continue what we have left which are
1. 3D omnidirectional motion planning : currently the simulation have been done. We plan to do the experiment with the real robot by this year.
2. permanent magnetic-based gait generation : we did try different type of magnet and we aim to continue with permanent magnet due to safety issue. The experiment will conducted within this year also.
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| Causes of Carryover |
we incurring amount to be Used Next Fiscal Year since we want to confirm simulation in several conditions before perform real experiment. Therefore, we need to shift grant to be used this year for the purposed of developing new robot prototype.
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| Expenditure Plan for Carryover Budget |
This year plan is as follow. We first going to improve the prototype robot to fit the design we have made in the simulation. Later, we will perform the experiment of magnetic walk and also 3D omnidirectional flying motion.
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